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fix in depth error tracing

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This commit is contained in:
Christian Forster
2014-05-16 14:48:02 +02:00
parent 11b5b62c9e
commit bb4c671568
1 changed files with 2 additions and 2 deletions
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svo_ros/src/benchmark_node.cpp
+2 -2
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@@ -119,9 +119,9 @@ void BenchmarkNode::traceDepthError(const FramePtr& frame, const cv::Mat& depthm
if(ftr->point != NULL) if(ftr->point != NULL)
{ {
double depth_estimated = (ftr->point->pos_-frame->pos()).norm(); double depth_estimated = (ftr->point->pos_-frame->pos()).norm();
double depth_measured = depthmap.at<float>((int) ftr->px[1], (int) ftr->px[0]); double depth_true = depthmap.at<float>((int) ftr->px[1], (int) ftr->px[0]);
trace_depth_error_ << frame->id_ << " " trace_depth_error_ << frame->id_ << " "
<< depth_estimated-depth_estimated << std::endl; << depth_estimated-depth_true << std::endl;
} }
}); });
} }